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<a href="#pub-methods">Public Member Functions</a> |
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<p><code>#include &lt;opencv2/rgbd/dynafu.hpp&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a9ec5e6d593953fc9b2525180a87fb67c"><td align="right" class="memItemLeft" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d20/classcv_1_1dynafu_1_1DynaFu.html#a9ec5e6d593953fc9b2525180a87fb67c">~DynaFu</a> ()</td></tr>
<tr class="separator:a9ec5e6d593953fc9b2525180a87fb67c"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ab08a4ffcc3dd6a607da38420215756c8"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d20/classcv_1_1dynafu_1_1DynaFu.html#ab08a4ffcc3dd6a607da38420215756c8">getCloud</a> (<a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> points, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> normals) const =0</td></tr>
<tr class="memdesc:ab08a4ffcc3dd6a607da38420215756c8"><td class="mdescLeft"> </td><td class="mdescRight">Gets points and normals of current 3d mesh.  <a href="#ab08a4ffcc3dd6a607da38420215756c8">More...</a><br/></td></tr>
<tr class="separator:ab08a4ffcc3dd6a607da38420215756c8"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a82afa26e6ebdab31161f191f8778a54a"><td align="right" class="memItemLeft" valign="top">virtual std::vector&lt; <a class="el" href="../../dc/d84/group__core__basic.html#ga3d79ceeb4419bccd0308dfdf1cd31435">Point3f</a> &gt; </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d20/classcv_1_1dynafu_1_1DynaFu.html#a82afa26e6ebdab31161f191f8778a54a">getNodesPos</a> () const =0</td></tr>
<tr class="separator:a82afa26e6ebdab31161f191f8778a54a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a46bac1fb2dc9aa1a698d5af3958c68aa"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d20/classcv_1_1dynafu_1_1DynaFu.html#a46bac1fb2dc9aa1a698d5af3958c68aa">getNormals</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> normals) const =0</td></tr>
<tr class="memdesc:a46bac1fb2dc9aa1a698d5af3958c68aa"><td class="mdescLeft"> </td><td class="mdescRight">Calculates normals for given points.  <a href="#a46bac1fb2dc9aa1a698d5af3958c68aa">More...</a><br/></td></tr>
<tr class="separator:a46bac1fb2dc9aa1a698d5af3958c68aa"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:af0019b85ca8423863aec3c1e9ab62eb8"><td align="right" class="memItemLeft" valign="top">virtual const <a class="el" href="../../de/d81/structcv_1_1kinfu_1_1Params.html">kinfu::Params</a> &amp; </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d20/classcv_1_1dynafu_1_1DynaFu.html#af0019b85ca8423863aec3c1e9ab62eb8">getParams</a> () const =0</td></tr>
<tr class="memdesc:af0019b85ca8423863aec3c1e9ab62eb8"><td class="mdescLeft"> </td><td class="mdescRight">Get current parameters.  <a href="#af0019b85ca8423863aec3c1e9ab62eb8">More...</a><br/></td></tr>
<tr class="separator:af0019b85ca8423863aec3c1e9ab62eb8"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a32bd19d7683d57208002048fe14cba28"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d20/classcv_1_1dynafu_1_1DynaFu.html#a32bd19d7683d57208002048fe14cba28">getPoints</a> (<a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> points) const =0</td></tr>
<tr class="memdesc:a32bd19d7683d57208002048fe14cba28"><td class="mdescLeft"> </td><td class="mdescRight">Gets points of current 3d mesh.  <a href="#a32bd19d7683d57208002048fe14cba28">More...</a><br/></td></tr>
<tr class="separator:a32bd19d7683d57208002048fe14cba28"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a67f9c549bc2297b1100b0f266653a09b"><td align="right" class="memItemLeft" valign="top">virtual const <a class="el" href="../../d0/de1/group__core.html#gae10a81cba3f3232648be48e28759a7bc">Affine3f</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d20/classcv_1_1dynafu_1_1DynaFu.html#a67f9c549bc2297b1100b0f266653a09b">getPose</a> () const =0</td></tr>
<tr class="memdesc:a67f9c549bc2297b1100b0f266653a09b"><td class="mdescLeft"> </td><td class="mdescRight">Get current pose in voxel space.  <a href="#a67f9c549bc2297b1100b0f266653a09b">More...</a><br/></td></tr>
<tr class="separator:a67f9c549bc2297b1100b0f266653a09b"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:addc26a60e4748d1a0fdc3239acd182c1"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d20/classcv_1_1dynafu_1_1DynaFu.html#addc26a60e4748d1a0fdc3239acd182c1">marchCubes</a> (<a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> vertices, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> edges) const =0</td></tr>
<tr class="separator:addc26a60e4748d1a0fdc3239acd182c1"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:afd4ad03177fe105e6f3c1034b0ee944a"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d20/classcv_1_1dynafu_1_1DynaFu.html#afd4ad03177fe105e6f3c1034b0ee944a">render</a> (<a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> image, const <a class="el" href="../../dc/d84/group__core__basic.html#gaaccfdd6e633076501c97b6ba4e792f53">Matx44f</a> &amp;cameraPose=<a class="el" href="../../de/de1/classcv_1_1Matx.html#a8633b16f0c8296bcee707815abe18b0e">Matx44f::eye</a>()) const =0</td></tr>
<tr class="memdesc:afd4ad03177fe105e6f3c1034b0ee944a"><td class="mdescLeft"> </td><td class="mdescRight">Renders a volume into an image.  <a href="#afd4ad03177fe105e6f3c1034b0ee944a">More...</a><br/></td></tr>
<tr class="separator:afd4ad03177fe105e6f3c1034b0ee944a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a75ad62e354a745785a5133bad5b766de"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d20/classcv_1_1dynafu_1_1DynaFu.html#a75ad62e354a745785a5133bad5b766de">renderSurface</a> (<a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> depthImage, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> vertImage, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> normImage, bool warp=true)=0</td></tr>
<tr class="separator:a75ad62e354a745785a5133bad5b766de"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a1dca408d6eab13eb4449c7feaa10d185"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d20/classcv_1_1dynafu_1_1DynaFu.html#a1dca408d6eab13eb4449c7feaa10d185">reset</a> ()=0</td></tr>
<tr class="memdesc:a1dca408d6eab13eb4449c7feaa10d185"><td class="mdescLeft"> </td><td class="mdescRight">Resets the algorithm.  <a href="#a1dca408d6eab13eb4449c7feaa10d185">More...</a><br/></td></tr>
<tr class="separator:a1dca408d6eab13eb4449c7feaa10d185"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a2188df1aa713a599cad801b058ea9138"><td align="right" class="memItemLeft" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d20/classcv_1_1dynafu_1_1DynaFu.html#a2188df1aa713a599cad801b058ea9138">update</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> depth)=0</td></tr>
<tr class="memdesc:a2188df1aa713a599cad801b058ea9138"><td class="mdescLeft"> </td><td class="mdescRight">Process next depth frame.  <a href="#a2188df1aa713a599cad801b058ea9138">More...</a><br/></td></tr>
<tr class="separator:a2188df1aa713a599cad801b058ea9138"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:addaa8440b21e208d5ca8b5fac026dd32"><td align="right" class="memItemLeft" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d1/d20/classcv_1_1dynafu_1_1DynaFu.html">DynaFu</a> &gt; </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d20/classcv_1_1dynafu_1_1DynaFu.html#addaa8440b21e208d5ca8b5fac026dd32">create</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../de/d81/structcv_1_1kinfu_1_1Params.html">kinfu::Params</a> &gt; &amp;_params)</td></tr>
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</table>
<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a9ec5e6d593953fc9b2525180a87fb67c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9ec5e6d593953fc9b2525180a87fb67c">◆ </a></span>~DynaFu()</h2>
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          <td class="memname">virtual cv::dynafu::DynaFu::~DynaFu </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
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</div><div class="memdoc">
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<h2 class="groupheader">Member Function Documentation</h2>
<a id="addaa8440b21e208d5ca8b5fac026dd32"></a>
<h2 class="memtitle"><span class="permalink"><a href="#addaa8440b21e208d5ca8b5fac026dd32">◆ </a></span>create()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
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  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt;<a class="el" href="../../d1/d20/classcv_1_1dynafu_1_1DynaFu.html">DynaFu</a>&gt; cv::dynafu::DynaFu::create </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../de/d81/structcv_1_1kinfu_1_1Params.html">kinfu::Params</a> &gt; &amp; </td>
          <td class="paramname"><em>_params</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">static</span></span>  </td>
  </tr>
</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.dynafu.DynaFu_create(</td><td class="paramname">_params</td><td>)</td></tr></table>
</div><div class="memdoc">
</div>
</div>
<a id="ab08a4ffcc3dd6a607da38420215756c8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab08a4ffcc3dd6a607da38420215756c8">◆ </a></span>getCloud()</h2>
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          <td class="memname">virtual void cv::dynafu::DynaFu::getCloud </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>points</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>normals</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
  </tr>
</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>points, normals</td><td>=</td><td>cv.dynafu_DynaFu.getCloud(</td><td class="paramname">[, points[, normals]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p>Gets points and normals of current 3d mesh. </p>
<p>The order of normals corresponds to order of points. The order of points is undefined.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">points</td><td>vector of points which are 4-float vectors </td></tr>
    <tr><td class="paramname">normals</td><td>vector of normals which are 4-float vectors </td></tr>
  </table>
  </dd>
</dl>
</div>
</div>
<a id="a82afa26e6ebdab31161f191f8778a54a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a82afa26e6ebdab31161f191f8778a54a">◆ </a></span>getNodesPos()</h2>
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          <td class="memname">virtual std::vector&lt;<a class="el" href="../../dc/d84/group__core__basic.html#ga3d79ceeb4419bccd0308dfdf1cd31435">Point3f</a>&gt; cv::dynafu::DynaFu::getNodesPos </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
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<h2 class="memtitle"><span class="permalink"><a href="#a46bac1fb2dc9aa1a698d5af3958c68aa">◆ </a></span>getNormals()</h2>
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          <td class="memname">virtual void cv::dynafu::DynaFu::getNormals </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>points</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>normals</em> </td>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>normals</td><td>=</td><td>cv.dynafu_DynaFu.getNormals(</td><td class="paramname">points[, normals]</td><td>)</td></tr></table>
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<p>Calculates normals for given points. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">points</td><td>input vector of points which are 4-float vectors </td></tr>
    <tr><td class="paramname">normals</td><td>output vector of corresponding normals which are 4-float vectors </td></tr>
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  </dd>
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<h2 class="memtitle"><span class="permalink"><a href="#af0019b85ca8423863aec3c1e9ab62eb8">◆ </a></span>getParams()</h2>
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          <td class="memname">virtual const <a class="el" href="../../de/d81/structcv_1_1kinfu_1_1Params.html">kinfu::Params</a>&amp; cv::dynafu::DynaFu::getParams </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>Get current parameters. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a32bd19d7683d57208002048fe14cba28">◆ </a></span>getPoints()</h2>
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          <td class="memname">virtual void cv::dynafu::DynaFu::getPoints </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>points</em></td><td>)</td>
          <td> const</td>
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<p>Gets points of current 3d mesh. </p>
<p>The order of points is undefined.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">points</td><td>vector of points which are 4-float vectors </td></tr>
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  </dd>
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<h2 class="memtitle"><span class="permalink"><a href="#a67f9c549bc2297b1100b0f266653a09b">◆ </a></span>getPose()</h2>
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          <td class="memname">virtual const <a class="el" href="../../d0/de1/group__core.html#gae10a81cba3f3232648be48e28759a7bc">Affine3f</a> cv::dynafu::DynaFu::getPose </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>Get current pose in voxel space. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#addc26a60e4748d1a0fdc3239acd182c1">◆ </a></span>marchCubes()</h2>
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          <td class="memname">virtual void cv::dynafu::DynaFu::marchCubes </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>vertices</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>edges</em> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
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<h2 class="memtitle"><span class="permalink"><a href="#afd4ad03177fe105e6f3c1034b0ee944a">◆ </a></span>render()</h2>
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          <td class="memname">virtual void cv::dynafu::DynaFu::render </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>image</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#gaaccfdd6e633076501c97b6ba4e792f53">Matx44f</a> &amp; </td>
          <td class="paramname"><em>cameraPose</em> = <code><a class="el" href="../../de/de1/classcv_1_1Matx.html#a8633b16f0c8296bcee707815abe18b0e">Matx44f::eye</a>()</code> </td>
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          <td>)</td>
          <td></td><td> const</td>
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<p>Renders a volume into an image. </p>
<p>Renders a 0-surface of TSDF using Phong shading into a CV_8UC4 <a class="el" href="../../d3/d63/classcv_1_1Mat.html" title="n-dimensional dense array class ">Mat</a>. Light pose is fixed in <a class="el" href="../../d1/d20/classcv_1_1dynafu_1_1DynaFu.html">DynaFu</a> params.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">image</td><td>resulting image </td></tr>
    <tr><td class="paramname">cameraPose</td><td>pose of camera to render from. If empty then render from current pose which is a last frame camera pose. </td></tr>
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  </dd>
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<h2 class="memtitle"><span class="permalink"><a href="#a75ad62e354a745785a5133bad5b766de">◆ </a></span>renderSurface()</h2>
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          <td class="memname">virtual void cv::dynafu::DynaFu::renderSurface </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>depthImage</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>vertImage</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>normImage</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool </td>
          <td class="paramname"><em>warp</em> = <code>true</code> </td>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
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<h2 class="memtitle"><span class="permalink"><a href="#a1dca408d6eab13eb4449c7feaa10d185">◆ </a></span>reset()</h2>
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          <td class="memname">virtual void cv::dynafu::DynaFu::reset </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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<p>Resets the algorithm. </p>
<p>Clears current model and resets a pose. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a2188df1aa713a599cad801b058ea9138">◆ </a></span>update()</h2>
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          <td class="memname">virtual bool cv::dynafu::DynaFu::update </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> </td>
          <td class="paramname"><em>depth</em></td><td>)</td>
          <td></td>
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<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.dynafu_DynaFu.update(</td><td class="paramname">depth</td><td>)</td></tr></table>
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<p>Process next depth frame. </p>
<p>Integrates depth into voxel space with respect to its ICP-calculated pose. Input image is converted to CV_32F internally if has another type.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">depth</td><td>one-channel image which size and depth scale is described in algorithm's parameters </td></tr>
  </table>
  </dd>
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<dl class="section return"><dt>Returns</dt><dd>true if succeeded to align new frame with current scene, false if opposite </dd></dl>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>opencv2/rgbd/<a class="el" href="../../dc/dcf/dynafu_8hpp.html">dynafu.hpp</a></li>
</ul>
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